Doppler Cycle Slip Detection and Repair of Low Sampling Rate

In the cycle slip detection and repair of satellite navigation and positioning, the Doppler observation is protected from the cycle slip, which can assist the carrier phase data for cycle slip detection. However, as the sampling rate decreases, the correlation between the errors of the epochs also decreases, and the cycle slip detection capability is significantly reduced. To solve this problem, the author proposes a method of detecting and repairing Doppler cycle slip for low sampling rate. The method first uses the Lagrange interpolation algorithm to interpolate the low sampling rate Doppler observations to the 1s sampling interval, and performs polynomial fitting on the interpolated values to obtain Doppler values with less noise. Finally, the Doppler value extrapolated by the polynomial fit is subtracted from the interpolated Doppler value to obtain the cycle slip value. The simulation example that using GPS data for solution analysis shows that the detection accuracy of the new method is about 3 times and 4 times higher than the 5s and 10s sampling interval of the traditional Doppler integration method, and the detection accuracy is increased by 20% and 30% respectively.